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- Type: IRD Synopsis
- Background , Figure 1. Energy and internal resistance relation for large lithium-ion batteries. Figure 1. Energy and internal resistance relation for large lithium-ion batteries. Electric vehicle (EV) manufacturers are increasingly focusing on high-capacity batteries to alleviate range anxiety. While larger batteries offer several advantages, they also come with increased weight and size, and a lower internal…, Approach , Figure 2. Internal resistance variation as a function of pulse length and SOC. Figure 2. Internal resistance variation as a function of pulse length and SOC. Conventional time-domain methods to measure internal resistance were tested. Various triggering methods, including pulse, ramp, and other nonlinear techniques, were evaluated, and compared to assess their suitability for application in large…, Accomplishments , Figure 3. Nyquist plot showing impedance response at different state-of-charge and frequency. Figure 3. Nyquist plot showing impedance response at different state-of-charge and frequency. Evaluation of DC & AC Pulse Methods: The analysis encompassed a wide variety of cell formats, chemistries, terminal designs, and sizes, ensuring a comprehensive understanding of the technology. Seven…Type: IRD Synopsis
- Background , As automated driving system (ADS) technologies progress and public road testing accelerates, new approaches to assessing the safety of these emerging transportation technologies are needed. Testing based on an ADS’s operational design domain (ODD) (i.e., the conditions for which an ADS is designed to function) and corresponding test scenarios is gradually being recognized as an appropriate…, Approach , We explored methods to evaluate and prioritize test variables and test cases to work toward identifying a minimum viable set of tests that proved or disproved safety arguments for ADS and other robotic vehicles. To accomplish this task, we developed tools to collect and categorize test variables for ADS and other robotic systems, using SwRI-owned automated shuttles and high-mobility multi-wheeled…, Accomplishments , During this project, we implemented and applied combinatorial testing, a test case scoring framework, and test case sampling to identify and compare test sets for safety assessments. We collected and categorized test variable data for two representative robotics systems (SwRI’s automated passenger shuttle and an off-road military platform) according to their ODD, OEDR, and behavioral/driving…Type: IRD Synopsis
- Type: IRD Synopsis
- Background , Toolpath planning is the generation of a series of waypoints that define the locations where a tool (sander, camera, paint gun, etc.) should traverse to execute a particular process (sanding, inspection, painting, etc.). This toolpath is given to a robot motion planner to determine how the joints of the robot should move to make the tool traverse through the toolpath. Currently, toolpath planners…, Approach , The overall goal of this research was to test and evaluate the planning performance gains achieved by implementing an environment-based toolpath refinement framework. To accomplish this goal, the following components were needed: a simulation environment, a motion planning process for refining toolpaths, motion planning tools that could be used in this toolpath refinement process, and a motion…, Accomplishments , In testing, we found that more robust toolpaths can be created through this process. Across all testing scenarios, the refined toolpath reached a higher number of waypoints as compared to the original toolpath. Additionally, in all but the 6 DOF statically mounted scenario, there was a significant reduction in planning time, most notably in the 7 DOF on a rail system, which reduced its average…Type: IRD Synopsis
- Type: IRD Synopsis
- Type: IRD Synopsis
- Type: IRD Synopsis
- Type: IRD Synopsis
- Type: IRD Synopsis